CN114291073A - Longitudinal comfort evaluation method based on vehicle deceleration - Google Patents
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Abstract
The invention relates to the technical field of new energy automobiles, in particular to a longitudinal comfort evaluation method based on vehicle deceleration. Including the vehicle that possesses the ADAS function, various information of this car of data acquisition unit follow vehicle OBD mouth reading, its characterized in that: obtaining raw data a of deceleration of a vehicle by OBDrawOriginal data v of vehicle speedrawDefining the derivative of deceleration
And taking a and Jerk as indexes for measuring comfort. The invention has the advantages that: the invention mainly adopts the deceleration of the vehicle to carry out a special calculation mode to separately calculate instantaneous monitoring and long-term monitoring, superposes discomfort caused by different time intervals, calculates the comfort level of each kilometer of the vehicle, judges the comfort level of a driver sitting on the vehicle through data, and judges the driving of the driver from the sideProvided is a technique.
Description
Technical Field
The invention relates to the technical field of new energy automobiles, in particular to a longitudinal comfort evaluation method based on vehicle deceleration.
Background
In order to effectively calculate the driving techniques of different drivers and remind the drivers of improving the driving techniques and driving habits, the driver's techniques need to be evaluated from the sitting comfort level of a side passenger, and therefore a longitudinal comfort evaluation method based on vehicle deceleration needs to be designed to solve the problems.
Disclosure of Invention
The invention aims to provide a longitudinal comfort evaluation method based on vehicle deceleration so as to overcome the defects in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a longitudinal comfort evaluation method based on vehicle deceleration comprises a vehicle with an ADAS function, a data acquisition unit reads various information of the vehicle from an OBD port of the vehicle, and is characterized in that: obtaining raw data a of deceleration of a vehicle by OBDrawOriginal data v of vehicle speedrawDefining the derivative of deceleration
Taking a and Jerk as comfort measurement indexes, processing the original value of deceleration a in the following two ways to obtain Jerk with two different characteristic properties:
1.1 Jerk_fast，a_fastthe device can quickly follow the fluctuation of the deceleration a, better reflects the peak value, and is suitable for transient monitoring;
1.2 Jerk_slow，a_slowthe fluctuation condition of the deceleration a in a period of time can be well reflected, and the method is suitable for long-term monitoring;
the following scenarios are applicable according to the above two different monitoring situations:
s1, calculating by the driver' S sudden acceleration or braking causing a single towering of the vehicle, and is counted as Kpeak；
S2, the driver steps on the brake and the accelerator for a plurality of times in a period of time to cause the vehicle to generate continuous small towering, and when the towering is generated for a plurality of times in a certain period of time, the passengers feel uncomfortable and countFor this purpose, the calculation is carried out in terms of Kcreep；
S3, continuously braking by the driver with a large deceleration, when the continuous time is long, calculating the continuous time and recording the Kpanic；
S4, the driver continuously increases the braking force, even if the absolute value of the deceleration is not large, the continuously increased deceleration can make the passengers feel dizzy, and the calculation is carried out according to the fact that the continuously increased deceleration is Kprog；
S5, when the driver switches the accelerator and the brake operation in a short time to cause the vehicle to back and forth rise, even if the absolute value of the deceleration is not large, the passenger feels uncomfortable because the deceleration is overturned, and the K is calculated and countedreb；Kprog
Finally, the data calculated in S1 to S5 are used to calculate the total discomfort Ktot＝Kpeak+Kcreep+Kpanic+Kprog+KrebThe driving distance ODO is recorded,
then use the per kilometer discomfort
To measure the longitudinal driving comfort of the driver.
Preferably, Jerk is calculated specifically_fast，a_fastThe method comprises the following steps: derivation of the original deceleration a
Then to JerkrawUsing a Butterworth 4 order filter with a cut-off frequency of 50Hz to obtain Jerk_fast。
Preferably, Jerk is calculated specifically_slow，a_slowThe method comprises the following steps: for vrawFitting a 4 th-order polynomial to obtain vf，vf＝p1*t4+p2*t3+p3*t2+p4*t+p5，
Then fit
Fitting
If the fitting time is too long, the curve characteristics are easily lost, so that fitting is carried out by taking 4s as a time unit, and then the data from the 2s to the 3s in the fitting curve are sequentially spliced to obtain the final Jerk_slow，a_slow。
Preferably, K is specifically calculatedpeakThe following were used:
calculating Jerk first_fasthe t peak value is in which threshold interval, then the discomfort factor Uncomf is taken as a corresponding value and is cumulatively counted into the scene discomfort KpeakThe method comprises the following steps:
preferably, K is specifically calculatedcreepThe following were used:
Lcreep_thrsampling Interval time T for comfort threshold of the scenecreep0The upper threshold is Jcreep_posThe lower threshold is Jcreep_negThe Counter is Counter, and the initial value of Counter is Counter _iniThe step length of increase is: counter \uincrementThe descending step length is Counterdecrement；
(general J)thr3＜Jcreep_neg＜0，0＜Jcreep_pos＜Jthr4)
Starting from time 0, at a sampling interval Tcreep0The calculation is performed for the step size,
if Jerk_fast>Jcreep_posOr Jerk_fast<Jcreep_negThen, then
Counter＝Counter+Counter_increment，
If J iscreep_neg＜Jerk_fast＜Jcreep_posThen, then
Each Tcreep0Period, Counter-Counter_decrement
If Counter>Lcreep_thrThen, then
Kcreep＝Kcreep+Uncomf2。
Preferably, K is specifically calculatedpanicThe method comprises the following steps:
defining a deceleration threshold as apanic_thrThe cumulative time threshold is Tpanic_thrSampling interval Tpanic0Counter, the initial value is Counter _ini0, increment step Counter_increment0.1 for each sampling interval Tpanic0，
When a is_fast≤apanic_thr，Counter＝Counter+Counter_increment，
a_fast＞apanic_thr，Counter＝Counter-Counter_incrementThe minimum value is 0, neglecting,
if Counter is greater than Tpanic_thrIt is considered that an uncomfortable feeling is generated,
Kpanic＝Kpanic+Uncomf1。
preferably, K is specifically calculatedprogThe following were used:
defining the Jerk threshold as Jerkprog_thrThe cumulative time threshold is Tprog_thrWith a sampling interval of Tprog0Counter, the initial value is Counter _ini0, increment step Counter_increment0.1 for each sampling interval Tprog0，
When Jerk_slow≤Jerkprog_thr，Counter＝Counter+Counter_increment，
Jerk_slow＞Jerkprog_thr，Counter＝Counter-Counter_incrementIf the minimum value is 0, neglecting;
if Counter is greater than Tprog_thrIt is considered that an uncomfortable feeling is generated,
Kprog＝Kprog+Uncomf2。
preferably, K is specifically calculatedrebThe following were used:
definition areb_posthrFor upper deceleration threshold, areb_negthrFor a lower speed threshold, the time interval is Treb0，
In the time interval, if a_fastWhen the upper threshold value and the lower threshold value are passed, the deceleration is indicated to have a turnover, and the discomfort caused by the turnover is calculated as: kreb＝Kreb+Uconfim2。
The invention has the beneficial effects that: the invention mainly adopts the deceleration of the vehicle to carry out a special calculation mode to separately calculate instantaneous monitoring and long-term monitoring, superposes discomfort caused by different time intervals, calculates the comfort level of each kilometer of the vehicle, and judges the comfort level of a driver in the vehicle through data, thereby judging the driving technology of the driver from the side.
Drawings
FIG. 1 is a Peak diagram of a longitudinal comfort evaluation method based on vehicle deceleration according to the present invention;
FIG. 2 is a Creep diagram of a longitudinal comfort evaluation method based on vehicle deceleration according to the present invention;
FIG. 3 is a Panic diagram of a longitudinal comfort evaluation method based on vehicle deceleration according to the invention;
FIG. 4 is a Progressive schematic diagram of a longitudinal comfort evaluation method based on vehicle deceleration according to the present invention;
FIG. 5 is a schematic diagram of a method for evaluating longitudinal comfort based on vehicle deceleration according to the invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
The embodiment is a longitudinal comfort evaluation method based on vehicle deceleration, which comprises a vehicle with an ADAS function, wherein a data acquisition unit reads various information of the vehicle from an OBD port of the vehicle, and is characterized in that: obtaining raw data a of deceleration of a vehicle by OBDrawOriginal data v of vehicle speedrawDefining the derivative of deceleration
Taking a and Jerk as comfort measurement indexes, processing the original value of deceleration a in the following two ways to obtain Jerk with two different characteristic properties:
1.1 Jerk_fast，a_fastthe device can quickly follow the fluctuation of the deceleration a, better reflects the peak value, and is suitable for transient monitoring;
the calculation method comprises the following steps: derivation of the original deceleration a
Then to JerkrawUsing a Butterworth 4 order filter with a cut-off frequency of 50Hz to obtain Jerk_fast。
1.2 Jerk_slow，a_slowThe fluctuation condition of the deceleration a in a period of time can be well reflected, and the method is suitable for long-term monitoring.
The calculation method comprises the following steps: for vraFitting a 4 th-order polynomial to obtain vf，vf＝p1*t4+p2*t3+p3*t2+p4*t+p5，
Then fit
Fitting
If the fitting time is too long, the curve characteristics are easily lost, so that fitting is carried out by taking 4s as a time unit, and then the data from the 2s to the 3s in the fitting curve are sequentially spliced to obtain the final Jerk_slow，a_slow。
The discomfort factor Uncomf ═ (Uncomf) is defined1-7...) (5,3,0,0,0,3,5), with larger numbers indicating more discomfort.
For the discomfort caused by the driving behavior of the driver, as in the following cases:
peak scene
A large single-time towering of the vehicle, caused by sudden acceleration or braking of the driver, as shown in figure 1,
defining different thresholds characterizing different levels of discomfort
Jthr＝(Jthr1-6...)＝(-20,-10,-5,2,6,10)
At tpeakWithin the interval (here taken to be 1s),
computing Jerk_fastThe peak value is in which threshold interval, then the discomfort factor Uncomf takes the corresponding value and is cumulatively counted into the scene discomfort KpeakThe method comprises the following steps:
the following table shows specific discomfort conditions:
| Jerk_fast | discomfort level | Uncomf |
| Jerk_fast≥Jthr6 | Feeling of intense discomfort | Uncomf7 |
| Jthr5≤Jerk_fast＜Jthr6 | Great discomfort | Uncomf6 |
| Jthr4≤Jerk_fast＜Jthr5 | Slight discomfort | Uncomf5 |
| Jthr3≤Jerk_fast＜Jthr4 | Has no uncomfortable feeling | Uncomf4 |
| Jthr2≤Jerk_fast＜Jthr3 | Slight discomfort | Uncomf3 |
| Jthr1≤Jerk_fast＜Jthr2 | Great discomfort | Uncomf2 |
| Jerk_fast≤Jthr1 | Strong and weakFeeling of fit | Uncomf1 |
Deep scene
The driver steps on the brake and the accelerator several times in a continuous manner over a period of time, resulting in a continuous small towering of the vehicle. When a plurality of times of shrugs are accumulated for a certain period of time, the passenger feels uncomfortable,
with reference to figure 2 of the drawings,
definition of Lcreep_thrSampling Interval time T for comfort threshold of the scenecreep00.5s, upper threshold Jcreep_posLower threshold Jcreep_negCounter, the Counter initial value is Counter _ini0, increment step Counter _increment5, down step Counter_decrement＝0.5。
(general J)thr3＜Jcreep_neg＜0，0＜Jcreep_pos＜Jthr4)
Starting from time 0, at a sampling interval Tcreep0The calculation is performed for the step size,
if Jerk_fast>Jcreep_posOr Jerk_fast<Jcreep_negThen, then
Counter＝Counter+Counter_increment，
If J iscreep_neg＜Jerk_fast＜Jcreep_posThen, then
Each Tcreep0Period, Counter-Counter_decrement
If Counter>Lcreep_thrThen, then
Kcreep＝Kcreep+Uncomf2；
Sonic scene
When the driver performs continuous braking at a large deceleration, the passenger feels uncomfortable when the duration is long,
with reference to figure 3 of the drawings,
defining a deceleration threshold apanic_thrCumulative time threshold Tpanic_thrSampling interval Tpanic0(0.1 s here), Counter, initial value is Counter _ ir ni0, increment step Counter_increment0.1 for each sampling interval Tpanic0
When a is_fast≤apanic_thr，Counter＝Counter+Counter_increment，
a_fast＞apanic_thr，Counter＝Counter-Counter_incrementMinimum value of 0
If Counter is greater than Tpanic_thrIt is considered that an uncomfortable feeling is generated,
Kpanic＝Kpanic+Uncomf1。
progressive scene
When the driver continues to increase the braking force, even if the absolute value of the deceleration is not large, the continuously increased deceleration may make the passenger feel dizzy,
with reference to figure 4 of the drawings,
defining a Jerk threshold Jerkprog_thrCumulative time threshold Tprog_thrSampling interval Tprog0(0.1 s here), Counter, initial value is Counter _irni0, increment step count_irncreme＝nt0.1, for each sampling interval Tprog0
When Jerk_slow≤Jerkprog_thr，Counter＝Counter+Counter_increment，
Jerk_slow＞Jerkprog_thr，Counter＝Counter-Counter_incrementMinimum value of 0
If Counter is greater than Tprog_thrIt is considered that an uncomfortable feeling is generated,
Kprog＝Kprog+Uncomf2。
rebound scene
When the driver performs switching of the accelerator and brake operations in a short time to cause the vehicle to climb back and forth, even if the absolute value of the deceleration is not large, the passenger feels discomfort due to the deceleration being reversed,
with reference to figure 5 of the drawings,
definition areb_posthrUpper deceleration threshold, areb_negthrLower speed threshold, time interval Treb0In the time interval, if a_fastWhen the upper threshold value and the lower threshold value are crossed, the deceleration is indicated to be overturned once, and discomfort is caused
Kreb＝Kreb+Uconfim2。
The total unsuitability K can be calculated by combining the cases in 1-5tot＝Kpeak+Kcreep+Kpanic+Kprog+KrebWhen the driving range odo is taken by the OBD, the discomfort per kilometer is
And measuring the longitudinal driving comfort of the driver through the calculated per-kilometer discomfort degree so as to judge the driving level of the driver.
The invention has the advantages that the invention mainly adopts a special calculation mode of the deceleration of the vehicle to separately calculate the instantaneous monitoring and the long-term monitoring, superposes the discomfort caused by different time intervals, calculates the comfort level of each kilometer of the vehicle, and judges the comfort level of the vehicle with the driver through data, thereby judging the driving technique of the driver from the side.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. A longitudinal comfort evaluation method based on vehicle deceleration comprises a vehicle with an ADAS function, a data acquisition unit reads various information of the vehicle from an OBD port of the vehicle, and is characterized in that: obtaining original number of decelerations of vehicle by OBDAccording to arawOriginal data v of vehicle speedrawDefining the derivative of deceleration
Taking a and Jerk as comfort measurement indexes, processing the original value of deceleration a in the following two ways to obtain Jerk with two different characteristic properties:
1.1 Jerk_fast，a_fastthe device can quickly follow the fluctuation of the deceleration a, better reflects the peak value, and is suitable for transient monitoring;
1.2 Jerk_slow，a_slowthe fluctuation condition of the deceleration a in a period of time can be well reflected, and the method is suitable for long-term monitoring;
the following scenarios are applicable according to the above two different monitoring situations:
s1, calculating by the driver' S sudden acceleration or braking causing a single towering of the vehicle, and is counted as Kpeak；
S2, the driver steps on the brake and the accelerator for a plurality of times in a period of time to cause the vehicle to generate continuous small towering, when the towering is generated for a plurality of times in a certain period of time, the passenger feels uncomfortable, and the calculation is carried out according to the result, and the calculation is counted as Kcreep；
S3, continuously braking by the driver with a large deceleration, when the continuous time is long, calculating the continuous time and recording the Kpanic；
S4, the driver continuously increases the braking force, even if the absolute value of the deceleration is not large, the continuously increased deceleration can make the passengers feel dizzy, and the calculation is carried out according to the fact that the continuously increased deceleration is Kprog；
S5, when the driver switches the accelerator and the brake operation in a short time to cause the vehicle to back and forth rise, even if the absolute value of the deceleration is not large, the passenger feels uncomfortable because the deceleration is overturned, and the K is calculated and countedreb；Kprog
Finally, the data calculated in S1 to S5 are used to calculate the total discomfort Ktot＝Kpeak+Kcreep+Kpanic+Kprog+KrebRecording the driving distance ODO, using the degree of discomfort per kilometer
To measure the longitudinal driving comfort of the driver.
2. The longitudinal comfort evaluation method based on the vehicle deceleration according to claim 1, characterized in that: in particular to calculate Jerk_fast，a_fastThe method comprises the following steps: derivation of the original deceleration a
Then to JerkrawUsing a butterworth order 4 filter, cut off frequency 50Hz, we get Jerk _ fast.
3. The longitudinal comfort evaluation method based on the vehicle deceleration according to claim 1, characterized in that: in particular to calculate Jerk_slow，a_slowThe method comprises the following steps: for vrawFitting a 4 th-order polynomial to obtain vf，vf＝p1*t4+p2*t3+p3*t2+p4*t+p5，
Then fit
Fitting
If the fitting time is too long, the curve characteristics are easily lost, so that fitting is carried out by taking 4s as a time unit, and then the data from the 2s to the 3s in the fitting curve are sequentially spliced to obtain the final Jerk_slow，a_slow。
4. The longitudinal comfort evaluation method based on the vehicle deceleration according to claim 1, characterized in that: specific calculation of KpeakThe following were used:
calculating Jerk first_fastThe peak value is in which threshold interval, then the discomfort factor Uncomf takes the corresponding value and is cumulatively counted into the scene discomfort KpeakThe method comprises the following steps:
5. the longitudinal comfort evaluation method based on the vehicle deceleration according to claim 1, characterized in that: specific calculation of KcreepThe following were used:
Lcreep_thrsampling Interval time T for comfort threshold of the scenecreep0The upper threshold is Jcreep_posThe lower threshold is Jcreep_negThe Counter is Counter, and the initial value of the Counter is Counter_iniThe step length of increase is: counter_incrementThe descending step is Counter_decrement；
(general J)thr3＜Jcreep_neg＜0，0＜Jcreep_pos＜Jthr4)
Starting from time 0, at a sampling interval Tcreep0The calculation is performed for the step size,
if Jerk_fast>Jcreep_posOr Jerk_fast<Jcreep_negThen, then
Counter＝Counter+Counter_increment，
If J iscreep_neg＜Jerk_fast＜Jcreep_posThen, then
Each Tcreep0Period, Counter-Counter_decrement
If Counter>Lcreep_thrThen, then
Kcreep＝Kcreep+Uncomf2。
6. According to the rightThe method for evaluating longitudinal comfort based on deceleration of a vehicle according to claim 1, characterized in that: specific calculation of KpanicThe method comprises the following steps:
defining a deceleration threshold as apanic_thrThe cumulative time threshold is Tpanic_thrSampling interval Tpanic0Counter, the initial value is Counter_ini0, increment step Counter_increment0.1 for each sampling interval Tpanic0，
When a is_fast≤apanic_thr，Counter＝Counter+Counter_increment，
a_fast＞apanic_thr，Counter＝Counter-Counter_incrementThe minimum value is 0, neglecting,
if Counter is greater than Tpanic_thrIt is considered that an uncomfortable feeling is generated,
Kpanic＝Kpanic+Uncomf1。
7. the longitudinal comfort evaluation method based on the vehicle deceleration according to claim 1, characterized in that: specific calculation of KprogThe following were used:
defining the Jerk threshold as Jerkprog_thrThe cumulative time threshold is Tprog_thrWith a sampling interval of Tprog0Counter, the initial value is Counter_ini0, increment step Counter_increment0.1 for each sampling interval Tprog0，
When Jerk_slow≤Jerkprog_thr，Counter＝Counter+Counter_increment，
Jerk_slow＞Jerkprog_thr，Counter＝Counter-Counter_incrementIf the minimum value is 0, neglecting;
if Counter is greater than Tprog_thrIt is considered that an uncomfortable feeling is generated,
Kprog＝Kprog+Uncomf2。
8. the longitudinal comfort evaluation method based on the vehicle deceleration according to claim 1, characterized in that: specific calculation of KrebThe following were used:
definition areb_posthrFor upper deceleration threshold, areb_negthrFor a lower speed threshold, the time interval is Treb0，
In the time interval, if a_fastWhen the upper threshold value and the lower threshold value are passed, the deceleration is indicated to have a turnover, and the discomfort caused by the turnover is calculated as: kreb＝Kreb+Uconfim2。
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